1. Umsuka Wamarobhothi Ezimboni Ukusungulwa kwamarobhothi ezimboni kungalandelelwa emuva ku-1954, lapho u-George Devol enza isicelo selungelo lobunikazi ekuguquleni izingxenye ezihlelekayo. Ngemva kokubambisana noJoseph Engelberger, kwasungulwa inkampani yamarobhothi yokuqala emhlabeni i-Unimation, futhi irobhothi lokuqala lasetshenziswa emzileni wokukhiqiza weGeneral Motors ngo-1961, ikakhulukazi ukudonsa izingxenye emshinini ophonsa ukufa. Ama-manipulators amaningi asebenza ngama-hydraulically powered universal (Unimates) athengiswa eminyakeni eyalandela, asetshenziselwa ukukhohlisa izitho zomzimba kanye nokushisela amabala. Zombili izinhlelo zokusebenza zibe yimpumelelo, okubonisa ukuthi amarobhothi angasebenza ngokwethembeka futhi aqinisekise ikhwalithi esezingeni. Ngokushesha, ezinye izinkampani eziningi zaqala ukuthuthukisa nokwenza amarobhothi ezimboni. Kwasungulwa imboni eqhutshwa ukusungula izinto ezintsha. Nokho, kwathatha iminyaka eminingi ukuba le mboni ibe nenzuzo yangempela.
2. I-Stanford Arm: Impumelelo Enkulu Kumarobhothi I-"Stanford Arm" eyisisekelo yaklanywa u-Victor Scheinman ngo-1969 njengesibonelo sephrojekthi yocwaningo. Wayengumfundi wobunjiniyela eMnyangweni Wezobunjiniyela Bemishini futhi esebenza eStanford Artificial Intelligence Laboratory. I-"Stanford Arm" inamadigri enkululeko angu-6, futhi i-manipulator efakwe ugesi ngokugcwele ilawulwa yikhompyutha evamile, idivayisi yedijithali ebizwa nge-PDP-6. Lesi sakhiwo se-kinematic esingesona i-anthropomorphic sine-prism namajoyinti amahlanu ajikelezayo, okwenza kube lula ukuxazulula i-kinematic equations yerobhothi, ngaleyo ndlela kusheshisa amandla ekhompyutha. Imojula yokushayela iqukethe injini ye-DC, idrayivu ye-harmonic kanye ne-spur gear reducer, i-potentiometer kanye ne-tachometer yempendulo yesikhundla nesivinini.Umklamo wamarobhothi owalandela wathonywa ngokujulile imibono ka-Scheinman.
3. Ukuzalwa kwerobhothi lezimboni elifakwe ugesi ngokugcwele Ngo-1973, i-ASEA (manje eyi-ABB) yethula irobhothi lokuqala emhlabeni elilawulwa ngamakhompiyutha amancane, elifakwe ugesi ngokugcwele i-IRB-6. Ingenza ukunyakaza kwendlela eqhubekayo, okuyimfuneko yokushisela nokucutshungulwa kwe-arc. Kubikwa ukuthi lo mklamo ubonakale uqine kakhulu futhi irobhothi linempilo yesevisi efinyelela eminyakeni engama-20. Ngawo-1970s, amarobhothi asakazwa ngokushesha embonini yezimoto, ikakhulukazi ukushisela nokulayisha nokuthulula.
4. Idizayini Eguquguqukayo yamarobhothi e-SCRA Ngo-1978, iRobhothi Le-Selectively Compliant Assembly (i-SCRA) lasungulwa ngu-Hiroshi Makino eNyuvesi yase-Yamanashi, e-Japan. Lo mklamo oyingqopha-mlando wezindleko eziphansi wama-axis amane wafanelana ngokuphelele nezidingo zokuhlanganisa izingxenye ezincane, njengoba isakhiwo se-kinematic sivumela ukunyakaza kwengalo okusheshayo nokuthobelayo. Izinhlelo zokuhlanganisa eziguquguqukayo ezisekelwe kumarobhothi e-SCRA anokuhambisana okuhle komklamo womkhiqizo akhuthaze kakhulu ukuthuthukiswa kwevolumu ephezulu yemikhiqizo ye-elekthronikhi neyabathengi emhlabeni wonke.
5. Ukuthuthukiswa Kwamarobhothi Angasindi Nahambisanayo Izidingo zejubane nesisindo serobhothi ziholele ekwakhiweni kwenoveli ye-kinematic kanye ne-transmission. Kusukela ezinsukwini zokuqala, ukunciphisa ubukhulu kanye ne-inertia yesakhiwo samarobhothi kwakuyinhloso enkulu yocwaningo. Isilinganiso sesisindo esingu-1:1 esandleni somuntu sithathwe njengophawu lokugcina. Ngo-2006, lo mgomo wafezwa irobhothi elilula elivela ku-KUKA. Kuyingalo yerobhothi ehlangene enamazinga ayisikhombisa enkululeko enamandla athuthukile okulawula amandla. Enye indlela yokufeza umgomo wesisindo esilula kanye nesakhiwo esiqinile iye yahlolisiswa futhi yalandelwa kusukela ngawo-1980, okungukuthi ukuthuthukiswa kwamathuluzi emishini ehambisanayo. Le mishini ixhuma iziphetho zayo kumojuli yesisekelo somshini ngokusebenzisa amabakaki ahambisanayo angu-3 kuya ku-6. Lawa marobhothi okuthiwa ahambisanayo afaneleka kakhulu isivinini esikhulu (njengokubamba), ukunemba okuphezulu (njengokucubungula) noma ukuphatha imithwalo ephezulu. Kodwa-ke, indawo yabo yokusebenza incane kunaleyo yamarobhothi ayisiriyali noma avulekile.
6. Amarobhothi eCartesian namarobhothi anezandla ezimbili Njengamanje, amarobhothi eCartesian asafaneleka kahle ekusetshenzisweni okudinga indawo yokusebenza ebanzi. Ngaphezu komklamo wendabuko usebenzisa izimbazo zokuhumusha ze-orthogonal ezinezinhlangothi ezintathu, u-Gudel uhlongoze uhlaka lwefreyimu ye-notched yomgqomo ngo-1998. Lo mqondo uvumela ingalo yerobhothi eyodwa noma ngaphezulu ukuthi ilandelele futhi ijikeleze ohlelweni lokudlulisa oluvaliwe. Ngale ndlela, indawo yokusebenza yerobhothi ingathuthukiswa ngesivinini esikhulu nangokunemba. Lokhu kungase kube wusizo ikakhulukazi ekuphatheni nasekukhiqizeni imishini. Ukusebenza okuntekenteke kwezandla zombili kubalulekile emisebenzini eyinkimbinkimbi yokuhlanganisa, ukucubungula ukusebenza kanyekanye kanye nokulayisha izinto ezinkulu. Irobhothi lokuqala elitholakalayo elithengiswayo elinezandla ezimbili elethulwa nguMotoman ngo-2005. Njengerobhothi elinezandla ezimbili elingisa ukufinyela kanye nobunyoninco bengalo yomuntu, lingabekwa endaweni lapho abasebenzi bebesebenza khona ngaphambilini. Ngakho-ke, izindleko ezinkulu zingancishiswa. Ifaka ama-eksisi angu-13 okunyakaza: angu-6 esandleni ngasinye, kanye ne-eksisi eyodwa yokuzungezisa okuyisisekelo.
7. Amarobhothi Ahambayo (ama-AGV) kanye Nezinhlelo Zokukhiqiza Ezivumelanayo Ngesikhathi esifanayo, kwavela izimoto eziqondiswe nge-industrial robotics (AGVs). Lawa marobhothi eselula angahamba azungeze indawo yokusebenza noma asetshenziselwe ukulayisha impahla yephoyinti nephoyinti. Emcabangweni wezinhlelo zokukhiqiza eziguquguqukayo ezizenzakalelayo (i-FMS), ama-AGV abe yingxenye ebalulekile yokuguquguquka kwendlela. Ngaleso sikhathi, ama-AGV okuzulazula mahhala asetshenziswa ekukhiqizeni nasezintweni ezinkulu. Ngokuvamile ukuzulazula kwabo kusekelwe kuzikena ze-laser, ezihlinzeka ngemephu ye-2D enembile yendawo yangempela yamanje yokuma okuzimele nokugwema izithiyo.Kusukela ekuqaleni, inhlanganisela yama-AGV nezingalo zamarobhothi kwakucatshangwa ukuthi ikwazi ukulayisha nokukhipha amathuluzi omshini ngokuzenzakalelayo. Kodwa empeleni, lezi zingalo zamarobhothi zinezinzuzo zezomnotho nezindleko kuphela ezikhathini ezithile ezithile, njengokulayisha nokukhipha amadivayisi embonini ye-semiconductor.
8. Amathrendi amakhulu ayisikhombisa entuthuko yamarobhothi ezimboni Kusukela ngo-2007, ukuvela kwamarobhothi ezimboni kungaphawulwa yimikhuba emikhulu elandelayo: 1. Ukwehliswa kwezindleko kanye nokuthuthukiswa kokusebenza - Isilinganiso senani leyunithi lamarobhothi sehle saya ku-1/3 yenani lokuqala lamarobhothi alinganayo ngo-1990, okusho ukuthi i-automation iba eshibhile ngesikhathi esifanayo nesamarobhothi,- Ngesikhathi sokusebenza kwepharamitha ishibhile. umthamo, isikhathi esimaphakathi phakathi kokwehluleka kwe-MTBF) kwenziwe ngcono kakhulu. 2. Ukuhlanganiswa kobuchwepheshe be-PC kanye nezingxenye ze-IT - Ubuchwepheshe bekhompyutha yomuntu siqu (i-PC), isofthiwe yezinga lomthengi kanye nezingxenye ezenziwe ngomumo ezilethwe imboni ye-IT ziye zathuthukisa ngokuphumelelayo ukusebenza kahle kwezindleko zamarobhothi.- Manje, abakhiqizi abaningi bahlanganisa ama-PC-based processors kanye nezinhlelo, ukuxhumana kanye nokulingiswa kwisilawuli, futhi basebenzisa imakethe ye-IT enesivuno esiphezulu ukuyigcina. 3. Ukulawulwa kokuhlanganyela kwamarobhothi amaningi - Amarobhothi amaningi angahlelwa futhi ahlanganiswe futhi avumelaniswe ngesikhathi sangempela ngesilawuli, esivumela amarobhothi ukuthi asebenze ngokunembile ndawonye endaweni yokusebenza eyodwa. 4. Ukusetshenziswa kabanzi kwezinhlelo zokubona - Izimiso zombono zokuqashelwa kwezinto, ukubekwa kwendawo kanye nokulawulwa kwekhwalithi ziya ngokuya ziba yingxenye yabalawuli bamarobhothi.5. Inethiwekhi nokulawula okukude - Amarobhothi axhunywe kunethiwekhi nge-fieldbus noma i-Ethernet ukuze uthole ukulawula okungcono, ukumisa nokugcinwa.6. Amamodeli ebhizinisi amasha - Izinhlelo zezezimali ezintsha zivumela abasebenzisi bokugcina ukuthi baqashe amarobhothi noma babe nenkampani yochwepheshe noma ngisho nomhlinzeki wamarobhothi asebenzise iyunithi yerobhothi, enganciphisa izingozi zokutshalwa kwezimali futhi yonge imali.7. Ukuduma kokuqeqeshwa kanye nemfundo - Ukuqeqeshwa nokufunda sekuphenduke izinsiza ezibalulekile kubasebenzisi abaningi bokugcina ukuthi babone amarobhothi. - Izinto ezisetshenziswayo zemultimedia nezifundo zenzelwe ukufundisa onjiniyela nomsebenzi ukuze bakwazi ukuhlela kahle, ukuhlela, ukusebenzisa nokugcina amayunithi amarobhothi.
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Isikhathi sokuthumela: Apr-15-2025
